scurve trajectory planner

@Julian,

Thanks for the interesting file.

The first problem is solved :
1. Buffer overflow.
-> cause :  tcqFull() function was not used.
-> solution : tcqFull() function now uses a max buffer size to prevent buffer overflow. Default = 1000.

The second problem is not solved today:
2. It run's up to ca 1000 lines. Then it hang's. image missing /media/kunena/emoticons/shocked.png
-> cause : tiny segment length's : 0.007mm.
-> solution : review, recode the abc, uvw part of the planner step by step.


 

Joco wrote:

Don’t make that assumption re feedhold. And tapping. The planner is taking things direct from the Hal pin. Not from the lcnc motmod module.

it needs to be explicitly tested. Unless someone has done so already and can confirm what the behaviour is. 
 

I can confirm that LCNC 2.10 disables feed-hold while synchronized motion is in progress.  FH has no effect during a G33 or G33.1 command until after the synch move is complete.

@Grotius

Glad I can help. Yes, the code is stupid fine detailed. So for me it is a benchmark (standard tp has trouble to keep the speed, your tp is in generell faster) and not a "normal" everyday nc code. I have the code with different segment length, but the longer ones also hangs up after a while.

I played a little with the cycle time of axis. There is something going on, but I didnt get it. Maybe after you finished your steps we can go into the topic cycle time? I saw that you use a way shorter time than default. But maybe it is just a unknowledge on my side.

spumco wrote:

Joco wrote:

Don’t make that assumption re feedhold. And tapping. The planner is taking things direct from the Hal pin. Not from the lcnc motmod module.

it needs to be explicitly tested. Unless someone has done so already and can confirm what the behaviour is. 
 

I can confirm that LCNC 2.10 disables feed-hold while synchronized motion is in progress.  FH has no effect during a G33 or G33.1 command until after the synch move is complete.
 

And that behaviour continues under scurve planner?  That was what I was referring to. Not what standard planner does.

@Julian,

The file seems to run now under -> ./start_axis_9
I removed some segment length checks like : < 1e-12
This is a very tiny value, but it was enough to halt the planner so now and then.
Code is updated.
 

Well done!
I will update/patch and try some more codes on my testmachines this evening (living in Germany btw.). I will report back then.